Insurance for newborn? Currently on my parents plan.

Sarah • Been with hubby 7 years & married 3. Luna Violet 💗 horn Oct 2015 (conceived with glow help!) & River Elijah 💙 born Aug 19 2017! Both natural !! 🎉
So here I am over 2 months pregnant and starting to stress about our insurance. I am currently married and we are both under 26 in lousiana so we are still covered under our parents plans. Mine is currently BCBS. They will cover my birth but not hospital stay and they do not cover my newborn child. I am 90% sure I'll be eligible for Medicaid as we both make under 30k a year and cannot afford our own private insurance and jobs do not offer it either, however, how would I go about getting that for baby and possibly for myself? Once baby arrives I and he/she will need our own insurance anyway and I'm hoping I can qualify for coverage. The issue is how do I do that and how do I do it while currently on my parents insurance? Any and all info is greatly appreciated! Thanks!